Operating Instructions

CANopen communication
Function diagrams
2-535
© Siemens AG 2008 - 2013 All Rights Reserved SINAMICS G120 CU230P-2 Control Units List Manual (LH9), 01/2013
Fig. 2-33 9208 – Send telegram, free PDO mapping (p8744 = 2)
- 9208 -
Function diagram
87654321
fp_9208_97_68.vsd
CANopen
G120 CU230P-2 CAN
12.12.2012 V4.6
Send telegram, free PDO mapping (p8744 = 2)
...
<1>
.
.
.
COB-ID
<1>
TPDO 1
TPDO 2
TPDO 8
CANopen send words 1 ... 7
Send buffer
PZD send word
1
PZD send word
2
PZD send word
3
PZD send word
4
PZD send word
5
PZD send word
6
PZD send word
7
PZD send word
8
Automatic assignment of the
send buffer to the TPDOs
The assignment is made
from send buffer 1 and
from TPDO 1.
Objects that occur a
multiple number of times
are updated from the
same send buffer.
Object
1
Object
2
Object
3
Object
4
Object
1
Object
2
Object
3
Object
4
Object
1
Object
2
Object
3
Object
4
Transmit PDO 2
p8721
Mapping TPDO 2
p8731
Transmit PDO 8
p8727
Mapping TPDO 8
p8737
Object
1
Object
4
Sub-D socket
CAN bus
TPDO: Transmit Process Data Object
COB-ID: CAN object identification
Telegram: up to 4 words or 64 bits. The sum of the various objects must not exceed 8 words.
Evaluation of
the COB-ID
and data
transfer type
CANopen send telegram
PZD send word
(0)
p2051
[0]
PZD send word
(0)
p2051
[1]
PZD send word
(0)
p2051
[2]
PZD send word
(0)
p2051
[3]
PZD send word
(0)
p2051
[4]
PZD send word
(0)
p2051
[5]
PZD send word
(0)
p2051
[6]
PZD send word
(0)
p2051
[7]
Transmit PDO 1
0000 hex ... C000 06DF hex
p8720[0..4] (C000 06DF hex)
Mapping TPDO 1
0000 hex ... FFFF FFFF hex
p8730[0..3] (0000 hex)
Diag send word
r2053[0..13]